Dr. Walter E. Harrop was called as Yorkminster’s first minister on September 30, 1956. Under his leadership, plans were made to build the church on Route 17 in Grafton.

With financial assistance from other churches and individual donations, six acres of land were purchased, and construction began in September 1957 on a $50,000 air-conditioned building with six Sunday School rooms, kitchen, pastor's study and large hall (today’s Founders Hall) to be used for worship services. The first services were held in the new building on May 11, 1958.

A classroom wing was added in 1963. The current sanctuary with additional office and church school space followed in 1969, completing the existing main building of Yorkminster. The sanctuary was dedicated on May 11, 1969 at the morning worship service. About the only thing missing was the steeple, and the numerous delays before it was finally in place became a community joke. But the sanctuary was worshipful and beautiful and a happy culmination of much effort by many members of Yorkminster.

In 2006, Yorkminster added a multi-purpose building, Covenant Hall, to host large musical worship services, fellowship meals, and community events. In 2018, the church celebrated paying off the Covenant Hall construction loan with a note burning ceremony during the annual Thanksgiving breakfast.